public RemoteControlHub(IWillyRosService willyRosService)
{
// Create the cmd_vel topic
CmdVelTopic = new RosTopic(willyRosService.RosClient, "/cmd_vel", "geometry_msgs/Twist");
// A timer will reset the speed to 0 if it's not reset in time
_resetTimer = new Timer(1000)
{
AutoReset = true
};
_resetTimer.Elapsed += async(sender, args) => await StopMovement();
_resetTimer.Start();
}
private async Task ClientStateTask()
{
while (_running)
{
if (EnableTestData)
{
SendTestData();
}
if (RosClient.WebSocket != null && RosClient.WebSocket.State == WebSocketState.Open)
{
await Task.Delay(1000);
continue;
}
// Remove the old topics if they exist
_gpsTopic?.Dispose();
_sonarTopic?.Dispose();
// Create a new connection and topics
try
{
await RosClient.ConnectAsync(new Uri(_configuration["RosBridgeUri"]));
}
catch (Exception e)
{
Console.WriteLine("ROS connection failed:");
Console.WriteLine(e);
await Task.Delay(1000);
continue;
}
_gpsTopic = new RosTopic(RosClient, "/gps", null);
_gpsTopic.RosMessage += GpsTopicOnRosMessage;
_sonarTopic = new RosTopic(RosClient, "/sonar", null);
_sonarTopic.RosMessage += SonarTopicOnRosMessage;
await Task.Delay(1000);
}
}
